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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| name: dispatch-release-note | ||
| on: | ||
| push: | ||
| branches: | ||
| - beta/v* | ||
| - tier4/main | ||
| tags: | ||
| - v* | ||
| workflow_dispatch: | ||
| inputs: | ||
| beta-branch-or-tag-name: | ||
| description: The name of the beta branch or tag to write release note | ||
| type: string | ||
| required: true | ||
| jobs: | ||
| dispatch-release-note: | ||
| runs-on: ubuntu-latest | ||
| name: release-repository-dispatch | ||
| steps: | ||
| - name: Set tag name | ||
| id: set-tag-name | ||
| run: | | ||
| if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then | ||
| REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" | ||
| else | ||
| REF_NAME="${{ github.ref_name }}" | ||
| fi | ||
| echo ::set-output name=ref-name::"$REF_NAME" | ||
| echo ::set-output name=tag-name::"${REF_NAME#beta/}" | ||
| - name: Generate token | ||
| id: generate-token | ||
| uses: tibdex/github-app-token@v1 | ||
| with: | ||
| app_id: ${{ secrets.APP_ID }} | ||
| private_key: ${{ secrets.PRIVATE_KEY }} | ||
|
|
||
| - name: Repository dispatch for release note | ||
| run: | | ||
| curl \ | ||
| -X POST \ | ||
| -H "Accept: application/vnd.github+json" \ | ||
| -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \ | ||
| -H "X-GitHub-Api-Version: 2022-11-28" \ | ||
| "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ | ||
| -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(grid_map_utils) | ||
|
|
||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| set(CMAKE_CXX_EXTENSIONS OFF) | ||
| endif() | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
|
|
||
| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
| find_package(ament_cmake REQUIRED) | ||
|
|
||
| ament_auto_add_library(${PROJECT_NAME} SHARED | ||
| DIRECTORY src | ||
| ) | ||
|
|
||
| target_link_libraries(${PROJECT_NAME}) | ||
|
|
||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
|
|
||
| ament_add_gtest(test_${PROJECT_NAME} | ||
| test/test_polygon_iterator.cpp | ||
| ) | ||
| target_link_libraries(test_${PROJECT_NAME} | ||
| ${PROJECT_NAME} | ||
| ) | ||
|
|
||
| find_package(OpenCV REQUIRED) | ||
| add_executable(benchmark test/benchmark.cpp) | ||
| target_link_libraries(benchmark | ||
| ${PROJECT_NAME} | ||
| ${OpenCV_LIBS} | ||
| ) | ||
| endif() | ||
|
|
||
| ament_auto_package() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| # Grid Map Utils | ||
|
|
||
| ## Overview | ||
|
|
||
| This packages contains a re-implementation of the `grid_map::PolygonIterator` used to iterate over | ||
| all cells of a grid map contained inside some polygon. | ||
|
|
||
| ## Algorithm | ||
|
|
||
| This implementation uses the [scan line algorithm](https://en.wikipedia.org/wiki/Scanline_rendering), | ||
| a common algorithm used to draw polygons on a rasterized image. | ||
| The main idea of the algorithm adapted to a grid map is as follow: | ||
|
|
||
| - calculate intersections between rows of the grid map and the edges of the polygon edges; | ||
| - calculate for each row the column between each pair of intersections; | ||
| - the resulting `(row, column)` indexes are inside of the polygon. | ||
|
|
||
| More details on the scan line algorithm can be found in the References. | ||
|
|
||
| ## API | ||
|
|
||
| The `grid_map_utils::PolygonIterator` follows the same API as the original [`grid_map::PolygonIterator`](https://docs.ros.org/en/kinetic/api/grid_map_core/html/classgrid__map_1_1PolygonIterator.html). | ||
|
|
||
| ## Assumptions | ||
|
|
||
| The behavior of the `grid_map_utils::PolygonIterator` is only guaranteed to match the `grid_map::PolygonIterator` if edges of the polygon do not _exactly_ cross any cell center. | ||
| In such a case, whether the crossed cell is considered inside or outside of the polygon can vary due to floating precision error. | ||
|
|
||
| ## Performances | ||
|
|
||
| Benchmarking code is implemented in `test/benchmarking.cpp` and is also used to validate that the `grid_map_utils::PolygonIterator` behaves exactly like the `grid_map::PolygonIterator`. | ||
|
|
||
| The following figure shows a comparison of the runtime between the implementation of this package (`grid_map_utils`) and the original implementation (`grid_map`). | ||
| The time measured includes the construction of the iterator and the iteration over all indexes and is shown using a logarithmic scale. | ||
| Results were obtained varying the side size of a square grid map with `100 <= n <= 1000` (size=`n` means a grid of `n x n` cells), | ||
| random polygons with a number of vertices `3 <= m <= 100` and with each parameter `(n,m)` repeated 10 times. | ||
|
|
||
|  | ||
|
|
||
| ## Future improvements | ||
|
|
||
| There exists variations of the scan line algorithm for multiple polygons. | ||
| These can be implemented if we want to iterate over the cells contained in at least one of multiple polygons. | ||
|
|
||
| The current implementation imitate the behavior of the original `grid_map::PolygonIterator` where a cell is selected if its center position is inside the polygon. | ||
| This behavior could be changed for example to only return all cells overlapped by the polygon. | ||
|
|
||
| ## References | ||
|
|
||
| - <https://en.wikipedia.org/wiki/Scanline_rendering> | ||
| - <https://web.cs.ucdavis.edu/~ma/ECS175_S00/Notes/0411_b.pdf> | ||
| - <https://www.techfak.uni-bielefeld.de/ags/wbski/lehre/digiSA/WS0607/3DVRCG/Vorlesung/13.RT3DCGVR-vertex-2-fragment.pdf> |
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